/**
 ******************************************************************************
 *
 * @file       pios_board.c
 * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
 * @brief      Defines board specific static initializers for hardware for the OpenPilot board.
 * @see        The GNU Public License (GPL) Version 3
 *
 *****************************************************************************/
/*
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
 * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
 * for more details.
 *
 * You should have received a copy of the GNU General Public License along
 * with this program; if not, write to the Free Software Foundation, Inc.,
 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 */

#include "inc/openpilot.h"
#include <pios_com_priv.h>
#include <pios_tcp_priv.h>
#include <pios_udp_priv.h>
#include <pios_rcvr_priv.h>
#include <pios_gcsrcvr_priv.h>
#include <uavobjectsinit.h>

#include <accelsensor.h>
#include <barosensor.h>
#include <gpspositionsensor.h>
#include <gyrosensor.h>
#include <magsensor.h>
#include <manualcontrolsettings.h>

void Stack_Change() {}

void Stack_Change_Weak() {}


const struct pios_tcp_cfg pios_tcp_telem_cfg = {
    .ip   = "0.0.0.0",
    .port = 9000,
};

const struct pios_udp_cfg pios_udp_telem_cfg = {
    .ip   = "0.0.0.0",
    .port = 9000,
};

const struct pios_tcp_cfg pios_tcp_gps_cfg = {
    .ip   = "0.0.0.0",
    .port = 9001,
};
const struct pios_tcp_cfg pios_tcp_debug_cfg = {
    .ip   = "0.0.0.0",
    .port = 9002,
};

#ifdef PIOS_COM_AUX
/*
 * AUX USART
 */
const struct pios_tcp_cfg pios_tcp_aux_cfg = {
    .ip   = "0.0.0.0",
    .port = 9003,
};
#endif

#define PIOS_COM_TELEM_RF_RX_BUF_LEN 192
#define PIOS_COM_TELEM_RF_TX_BUF_LEN 192
#define PIOS_COM_GPS_RX_BUF_LEN      96

/*
 * Board specific number of devices.
 */
/*
   struct pios_udp_dev pios_udp_devs[] = {
   #define PIOS_UDP_TELEM  0
   {
    .cfg = &pios_udp0_cfg,
   },
   #define PIOS_UDP_GPS    1
   {
    .cfg = &pios_udp1_cfg,
   },
   #define PIOS_UDP_LOCAL    2
   {
    .cfg = &pios_udp2_cfg,
   },
   #ifdef PIOS_COM_AUX
   #define PIOS_UDP_AUX    3
   {
    .cfg = &pios_udp3_cfg,
   },
   #endif
   };

   uint8_t pios_udp_num_devices = NELEMENTS(pios_udp_devs);
 */
/*
 * COM devices
 */

/*
 * Board specific number of devices.
 */
extern const struct pios_com_driver pios_serial_com_driver;
extern const struct pios_com_driver pios_udp_com_driver;
extern const struct pios_com_driver pios_tcp_com_driver;

uint32_t pios_com_telem_rf_id;
uint32_t pios_com_telem_usb_id;
uint32_t pios_com_gps_id;
uint32_t pios_com_aux_id;
uint32_t pios_com_spectrum_id;
uint32_t pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE];

/**
 * PIOS_Board_Init()
 * initializes all the core systems on this specific hardware
 * called from System/openpilot.c
 */
void PIOS_Board_Init(void)
{
    /* Delay system */
    PIOS_DELAY_Init();

    /* Initialize the delayed callback library */
    PIOS_CALLBACKSCHEDULER_Initialize();

    /* Initialize UAVObject libraries */
    EventDispatcherInitialize();
    UAVObjInitialize();
    UAVObjectsInitializeAll();

    AccelSensorInitialize();
    BaroSensorInitialize();
    MagSensorInitialize();
    GPSPositionSensorInitialize();
    GyroStatInitialize();
    GyroSensorInitialize();

    /* Initialize the alarms library */
    AlarmsInitialize();

    /* Initialize the task monitor */
    if (PIOS_TASK_MONITOR_Initialize(TASKINFO_RUNNING_NUMELEM)) {
        PIOS_Assert(0);
    }

#if defined(PIOS_INCLUDE_COM)
#if defined(PIOS_INCLUDE_TELEMETRY_RF) && 1
    {
        uint32_t pios_tcp_telem_rf_id;
        if (PIOS_TCP_Init(&pios_tcp_telem_rf_id, &pios_tcp_telem_cfg)) {
            PIOS_Assert(0);
        }

        uint8_t *rx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_TELEM_RF_RX_BUF_LEN);
        uint8_t *tx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_TELEM_RF_TX_BUF_LEN);
        PIOS_Assert(rx_buffer);
        PIOS_Assert(tx_buffer);
        if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_tcp_com_driver, pios_tcp_telem_rf_id,
                          rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN,
                          tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) {
            PIOS_Assert(0);
        }
    }
#endif /* PIOS_INCLUDE_TELEMETRY_RF */

#if defined(PIOS_INCLUDE_TELEMETRY_RF) && 0
    {
        uint32_t pios_udp_telem_rf_id;
        if (PIOS_UDP_Init(&pios_udp_telem_rf_id, &pios_udp_telem_cfg)) {
            PIOS_Assert(0);
        }

        uint8_t *rx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_TELEM_RF_RX_BUF_LEN);
        uint8_t *tx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_TELEM_RF_TX_BUF_LEN);
        PIOS_Assert(rx_buffer);
        PIOS_Assert(tx_buffer);
        if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_udp_com_driver, pios_udp_telem_rf_id,
                          rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN,
                          tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) {
            PIOS_Assert(0);
        }
    }
#endif /* PIOS_INCLUDE_TELEMETRY_RF */


#if defined(PIOS_INCLUDE_GPS)
    {
        uint32_t pios_tcp_gps_id;
        if (PIOS_TCP_Init(&pios_tcp_gps_id, &pios_tcp_gps_cfg)) {
            PIOS_Assert(0);
        }
        uint8_t *rx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_GPS_RX_BUF_LEN);
        PIOS_Assert(rx_buffer);
        if (PIOS_COM_Init(&pios_com_gps_id, &pios_tcp_com_driver, pios_tcp_gps_id,
                          rx_buffer, PIOS_COM_GPS_RX_BUF_LEN,
                          NULL, 0)) {
            PIOS_Assert(0);
        }
    }
#endif /* PIOS_INCLUDE_GPS */
#endif /* if defined(PIOS_INCLUDE_COM) */

#if defined(PIOS_INCLUDE_GCSRCVR)
    GCSReceiverInitialize();
    uint32_t pios_gcsrcvr_id;
    PIOS_GCSRCVR_Init(&pios_gcsrcvr_id);
    uint32_t pios_gcsrcvr_rcvr_id;
    if (PIOS_RCVR_Init(&pios_gcsrcvr_rcvr_id, &pios_gcsrcvr_rcvr_driver, pios_gcsrcvr_id)) {
        PIOS_Assert(0);
    }
    pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_GCS] = pios_gcsrcvr_rcvr_id;
#endif /* PIOS_INCLUDE_GCSRCVR */
}

/**
 * @}
 */
